爬树机器人结构设计_对轮式爬树机器人
摘 要
机器人是二十一世纪最具代表性的光机电一体化技术系统。机器人在现代化工业
国家正在得到越来越广泛的应用，各种机器人的商品样机不断进入市场，在这种情况
下，机器人来开发各种各样的机器人是一个很需要重视的领域，它作为机器人技术，
计算机技术和机电一体化技术教育的教学工具，对人才培养和高新技术的推广应用有
着重要的意义。爬树机器人具有攀爬和操作功能，以代替人们在高空复杂环境中从事
危险工作为目标，完成诸如树木整枝、果实采摘、收集标本、军事探测及杆状建筑物
的清洗保养、质量检测等任务。
本文介绍了国内外爬树机器人的发展状况，并对其进行了原理分析，在总结国内
外爬树机器人现状的基础上，对轮式爬树机器人进行了机构设计和原理分析。
对轮式爬树机器人进行了两套方案设计，通过方案对比分析，采用伸缩推动结
构，实现爬树过程。该轮式爬树机器人机构设计采用伸缩机构，带式传动机构等实现
轮式机器人爬树过程，选择直流电机作为驱动电机，确定了外框架构件的尺寸，描述
了伸缩杆与驱动轮的工作原理，并对轮式爬树机器人进行了动画演示。
本设计主要完成了电气控制系统的设计；Solid works 视频动画的制作，最后制作
出的轮式爬树机器人能够实现简单地向上或向下攀爬。
关键词：爬树机器人；轮式爬树机器人；结构设计；电气控制
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ABSTRACT
Robot is the most representative opto-mechatronics technology system in the 21st
century. Industrial robot in modern industrial countries are getting more and more widely
used, the goods all kinds of industrial robot prototype constantly entering the market, in this
case, the simulation of industrial robot to develop all kinds of robots, is a need to attach
importance to the field as robot technology, computer technology and mechatronics
technology education teaching tool, It is of great significance to the cultivation of talents and
the popularization and application of high and new technology. Tree climbing robot has
climbing and operation Functions, in order to replace people in the complex high-altitude
environment engaged in dangerous work as the goal, such as tree pruning, fruit picking,
collection of specimens, military detection and rod-shaped building cleaning maintenance,
quality testing and other tasks.
This paper introduces the development of tree climbing robot at home and abroad, and
analyzes its principle. On the basis of summarizing the status quo of tree climbing robot at
home and abroad, the mechanism design and principle analysis of wheeled tree climbing
robot are carried out.
Two schemes are designed for the wheeled tree climbing robot. Through the scheme
comparison and analysis, the telescopic driving structure is adopted to realize the tree
climbing process. The design of the wheel tree climbing robot mechanism using telescopic
mechanism, belt drive mechanism to achieve the tree climbing process of the wheel robot,
select the stepper motor as the drive motor, determine the size of the outer frame components,
described the telescopic rod and driving wheel working principle, and the wheel tree climbing
robot animation demonstration.
This design mainly completed the electrical control system design; Solid works video
animation, resulting in a wheeled tree climbing robot that can simply climb up or down.
Keywords ：Tree climbing robot; Wheeled tree climbing robot; Structural design;
Electrical control
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目 录
摘 要.........................................................................................................................................1
ABSTRACT...............................................................................................................................2
目 录.........................................................................................................................................3
第一章 绪 论.............................................................................................................................5
1.1 课题背景...........................................................................................................................5
1.2 国内外研究现状...............................................................................................................5
1.2.1 机器人国内外研究现状.............................................................................................5
第二章 爬树机器人的机械结构设计.......................................................................................7
2.1 方案概述...........................................................................................................................7
2.2 传动机构设计...................................................................................................................8
2.2.1 三轴传动方案选择.....................................................................................................8
2.2.2 X 轴传动机构设计.....................................................................................................8
2.2.3 Y 轴传动机构设计...................................................................................................10
2.2.4 Z 轴传动机构设计...................................................................................................10
2.2.5 末端执行器设计.......................................................................................................11
2.3 主要部件选型.................................................................................................................12
2.3.1 导轨选型...................................................................................................................12
2.3.2 齿轮齿条选型...........................................................................................................12
2.3.3 步进电机选型...........................................................................................................17
第三章 搬运机器人的控制系统设计.....................................................................................19
3.1 控制流程设计.................................................................................................................19
3.2 控制系统组成.................................................................................................................19
3.3 PLC 选型.........................................................................................................................20
3.4 PLC 的I/O 分配以及变量数据块管理..........................................................................21
3.5 电气元件选型与接线.....................................................................................................23
3.5.1 步进驱动器选型.......................................................................................................23
3.5.2 光电接近开关选型与接线.......................................................................................24
3.5.3 气动组件选型...........................................................................................................26
3.5.4 运料传送带设计选型...............................................................................................26
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摘要机器人是二十一世纪最具代表性的光机电一体化技术系统。机器人在现代化工业国家正在得到越来越广泛的应用，各种机器人的商品样机不断进入市场，在这种情况下，机器人来开发各种各样的机器人是一个很需要重视的领域，它作为机器人技术，计算机技术和机电一体化技术教育的教学工具，对人才培养和高新技术的推广应用有着重要的意义。爬树机器人具有攀爬和操作功能，以代替人们在高空复杂环境中从事危险工作为目标，完成诸如树木整枝、果实采摘、收集标本、军事探测及杆状建筑物的清洗保养、质量检测等任务。本文介绍了国内外爬树机器人的发展状况，并对其进行了原理分析，在总结国内外爬树机器人现状的基础上，对轮式爬树机器人进行了机构设计和...
作者：闻远设计
分类：非标机械电气自动化
价格：25光币
属性：47 页
大小：4.25MB
格式：DOCX
时间：2024-06-21
